I have the same problem, and I work around it in a similar manner.
avahi-autoipd, dhcdbd, and network-manager don't play well with
wpa_supplicant. If I uninstall avahi-autoipd, dhcdbd, and network-
manager and use instead network-config and wlassistant, I don't have
problems.
The basic problem is that wpa_supplicant's architechture expects to
works with ifupdown and dhclient, not dhcdbd and avahi. (See the first
sentence of /usr/share/doc/wpasupplicant/README.Debian. ) The default
install seems to work fine as long as you aren't using WPA encryption
and you don't use static IP addresses.
Yet another reason for Bug 192258 to be fixed.
** Changed in: knetworkmanager (Ubuntu)
Status: Incomplete => Confirmed
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intermittent WPA connection
https://bugs.launchpad.net/bugs/78181
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